Abstract
Several technological applications require well-designed control systems to induce a desired speed in direct current (DC) motors. Some controllers present saturation in the duty cycle, which generates variable switching frequency and subharmonics. The zero average dynamics and fixed point induction control (ZAD-FPIC) techniques have been shown to reduce these problems; however, little research has been done for DC motors, considering fixed switching frequency, quantization effects, and delays. Therefore, this paper presents the speed control of a DC motor by using a buck converter controlled with the ZAD-FPIC techniques. A fourth-order, non-linear mathematical model is used to describe the system dynamics, which combines electrical and electromechanical physical models. The dynamic response and non-linear system dynamics are studied for different scenarios where the control parameters are changed. Results show that the speed of the motor is successfully controlled when using ZAD-FPIC, with a non-saturated duty cycle presenting fixed switching frequency. Simulation and experimental tests show that the controlled system presents a good performance for different quantization levels, which makes it robust to the resolution for the measurement and type of sensor.
Highlights
Direct current (DC) motors are very important electromechanical devices in mechatronic systems, which play a fundamental role in the execution of high precision tasks [1]
We show the numerical and experimental results for the speed control of a direct current (DC) motor using a buck converter controlled with the zero averaging error dynamics control technique (ZAD)-fixed point induction control (FPIC) technique
This paper presented a speed control for a DC motor performed with the ZAD-FPIC technique
Summary
Direct current (DC) motors are very important electromechanical devices in mechatronic systems, which play a fundamental role in the execution of high precision tasks [1]. As previously reported in the literature, controllers cause saturation in the duty cycle, creating variable switching frequency and sub-harmonics This problem has been solved by the applying ZAD-FPIC technique for resistive loads; electromechanical systems that consider the quantization effects and delays (to obtain a fixed switching frequency in the switches) have not been used, which are more interesting for industrial applications. In [6], some advantages of using ZAD-FPIC techniques to control the buck converter are shown after comparing this controller to the sliding mode control (SMC) and proportional–integral–derivative (PID) techniques This technique is not robust to changes in the system parameters, and the real-time processing requires a high sampling rate and synchronization of signal sensing with a centered pulse width modulation (CPWM) output [33].
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